Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle

Ramli, Muhammad Faiz and Shamsudin, Syariful Syafiq and Legowo, Ari (2017) Obstacle detection technique using multi sensor integration for small unmanned aerial vehicle. Indonesian Journal of Electrical Engineering and Computer Science, 8 (2). pp. 441-449. ISSN 2502-4752 E-ISSN 2502-4760

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Abstract

Achieving a robust obstacle detection system for small UAV is very challenging. Due to size and weight constraints, very limited detection sensors can be equipped in the system. Prior works focused on a single sensing device which is either camera or range sensors based. However, these sensors have their own advantages and disadvantages in detecting the appearance of the obstacles. In this paper, combination of both sensors based is proposed for a small UAV obstacle detection system. A small Lidar sensor is used as the initial detector and queue for image capturing by the camera. Next, SURF algorithm is applied to find the obstacle sizes estimation by searching the connecting feature points in the image frame. Finally, safe avoidance path for UAV is determined through the exterior feature points from the estimated width of the obstacle. The proposed method was evaluated by conducting experiments in real time with indoor environment. In the experiment conducted, we successfully detect and determine a safe avoidance path for the UAV on 6 different sizes and textures of the obstacles including textureless obstacles

Item Type:	Article (Journal)
Additional Information:	5334/62993
Uncontrolled Keywords:	Lidar, Feature keypoints, Connecting keypoints. Safe avoidance path, Textureless obstacles
Subjects:	Q Science > QA Mathematics T Technology > TD Environmental technology. Sanitary engineering T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Dr Ari Legowo
Date Deposited:	23 Mar 2018 11:18
Last Modified:	23 Mar 2018 11:18
URI:	http://irep.iium.edu.my/id/eprint/62993

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